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<div class="title">FloatingBaseModel.h</div>  </div>
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<a href="../../d5/d9a/_floating_base_model_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#ifndef LIBBIOMIMETICS_FLOATINGBASEMODEL_H</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#define LIBBIOMIMETICS_FLOATINGBASEMODEL_H</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/dfb/orientation__tools_8h.html">Math/orientation_tools.h</a>&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/d7d/_spatial_inertia_8h.html">SpatialInertia.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/dc8/spatial_8h.html">spatial.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">using</span> std::vector;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../da/d9b/namespaceori.html">ori</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../de/d1a/namespacespatial.html">spatial</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html">   38</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">   40</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;T&gt;</a> <a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">   41</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">   42</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> <a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>;  <span class="comment">// body coordinates</span></div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">   43</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> <a class="code" href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">q</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">   44</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> <a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../de/d75/struct_f_b_model_state.html#a4a666efc34cdbab839a08427aa00119a">   46</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../de/d75/struct_f_b_model_state.html#a4a666efc34cdbab839a08427aa00119a">print</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    printf(<span class="stringliteral">&quot;position: %.3f %.3f %.3f\n&quot;</span>, bodyPosition[0], bodyPosition[1],</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;           bodyPosition[2]);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;};</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../de/dce/struct_f_b_model_state_derivative.html">   57</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a> {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">   59</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">dBodyPosition</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">   60</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a>;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">   61</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;};</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html">   69</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a> {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a6705a7e83c8223c327871d48e40ab37b">   74</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a6705a7e83c8223c327871d48e40ab37b">FloatingBaseModel</a>() : _gravity(0, 0, -9.81) {}</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a91d31519dfa56e04c4f40c732011fa54">   75</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a91d31519dfa56e04c4f40c732011fa54">~FloatingBaseModel</a>() {}</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">void</span> addBase(<span class="keyword">const</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>&amp; inertia);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">void</span> addBase(T mass, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; com, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a>&amp; I);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">int</span> addGroundContactPoint(<span class="keywordtype">int</span> bodyID, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; location,</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                            <span class="keywordtype">bool</span> isFoot = <span class="keyword">false</span>);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">void</span> addGroundContactBoxPoints(<span class="keywordtype">int</span> bodyId, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; dims);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">int</span> addBody(<span class="keyword">const</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>&amp; inertia,</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;              <span class="keyword">const</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>&amp; rotorInertia, T gearRatio, <span class="keywordtype">int</span> parent,</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;              <a class="code" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a> jointType, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> jointAxis,</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;              <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; Xtree, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; Xrot);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">int</span> addBody(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a>&amp; inertia,</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;              <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a>&amp; rotorInertia, T gearRatio, <span class="keywordtype">int</span> parent,</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;              <a class="code" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a> jointType, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> jointAxis,</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;              <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; Xtree, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; Xrot);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">void</span> check();</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  T totalRotorMass();</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  T totalNonRotorMass();</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a477c5193fa0c0f6e36314eca214a7248">  154</a></span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="../../d6/db1/class_floating_base_model.html#a477c5193fa0c0f6e36314eca214a7248">getParentVector</a>() { <span class="keywordflow">return</span> _parents; }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keyword">const</span> std::vector&lt;SpatialInertia&lt;T&gt;,</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                    Eigen::aligned_allocator&lt;SpatialInertia&lt;T&gt;&gt;&gt;&amp;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a445bbce9a3f0a56164b06d39760d2383">  158</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a445bbce9a3f0a56164b06d39760d2383">getBodyInertiaVector</a>() {</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">return</span> _Ibody;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">const</span> std::vector&lt;SpatialInertia&lt;T&gt;,</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    Eigen::aligned_allocator&lt;SpatialInertia&lt;T&gt;&gt;&gt;&amp;</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a4c77595286da687122899d5e61139305">  164</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c77595286da687122899d5e61139305">getRotorInertiaVector</a>() {</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">return</span> _Irot;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">  171</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; g) { _gravity = g; }</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#ac14c1462d64d29ce58d3f002d6d459b9">  173</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#ac14c1462d64d29ce58d3f002d6d459b9">setContactComputeFlag</a>(<span class="keywordtype">size_t</span> gc_index, <span class="keywordtype">bool</span> flag) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    _compute_contact_info[gc_index] = flag;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;T&gt;</a> invContactInertia(<span class="keyword">const</span> <span class="keywordtype">int</span> gc_index,</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                            <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat&lt;T&gt;</a>&amp; force_directions);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  T invContactInertia(<span class="keyword">const</span> <span class="keywordtype">int</span> gc_index, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; force_ics_at_contact);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  T applyTestForce(<span class="keyword">const</span> <span class="keywordtype">int</span> gc_index, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; force_ics_at_contact,</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                   <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; dstate_out);</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  T applyTestForce(<span class="keyword">const</span> <span class="keywordtype">int</span> gc_index, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; force_ics_at_contact,</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                   <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; dstate_out);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordtype">void</span> addDynamicsVars(<span class="keywordtype">int</span> count);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordtype">void</span> resizeSystemMatricies();</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a575819811abf1d4b8e527b22aead4013">  191</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a575819811abf1d4b8e527b22aead4013">setState</a>(<span class="keyword">const</span> <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; state) {</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    _state = state;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    _biasAccelerationsUpToDate = <span class="keyword">false</span>;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; 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dState) {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    _dState = dState;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    _accelerationsUpToDate = <span class="keyword">false</span>;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getPosition(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> &amp; local_pos);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getPosition(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> getOrientation(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getLinearVelocity(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; point);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getLinearVelocity(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getLinearAcceleration(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; point);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getLinearAcceleration(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getAngularVelocity(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> getAngularAcceleration(<span class="keyword">const</span> <span class="keywordtype">int</span> link_idx);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordtype">void</span> forwardKinematics();</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordtype">void</span> biasAccelerations();</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordtype">void</span> compositeInertias();</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordtype">void</span> forwardAccelerationKinematics();</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordtype">void</span> contactJacobians();</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> generalizedGravityForce();</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> generalizedCoriolisForce();</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;T&gt;</a> massMatrix();</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> inverseDynamics(<span class="keyword">const</span> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; dState);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordtype">void</span> runABA(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>&amp; tau, <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; dstate);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">  238</a></span>&#160;  <span class="keywordtype">size_t</span> _nDof = 0;</div><div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">  239</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a>;</div><div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">  240</a></span>&#160;  vector&lt;int&gt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>;</div><div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">  241</a></span>&#160;  vector&lt;T&gt; <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>;</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">  242</a></span>&#160;  vector&lt;T&gt; _d, <a class="code" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a>;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">  244</a></span>&#160; 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std::string &gt; _bodyNames</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00249">FloatingBaseModel.h:249</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abbf400085816b6baa4e4a0597ac5b118"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">FBModelState::bodyPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; bodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00041">FloatingBaseModel.h:41</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2d964c688ec772c624a55a7b185a3065"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2d964c688ec772c624a55a7b185a3065">FloatingBaseModel::setDState</a></div><div class="ttdeci">void setDState(const FBModelStateDerivative&lt; T &gt; &amp;dState)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00207">FloatingBaseModel.h:207</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3499630b53adb244528882597a670aaf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">FloatingBaseModel::_compute_contact_info</a></div><div class="ttdeci">vector&lt; bool &gt; _compute_contact_info</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">FloatingBaseModel.h:259</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8156e678f4dd1248a4db9ba4dcae0aee"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">FloatingBaseModel::_jointAxes</a></div><div class="ttdeci">vector&lt; CoordinateAxis &gt; _jointAxes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">FloatingBaseModel.h:245</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0231caceb234a1eace8c03dda00431dd"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, Eigen::Dynamic &gt; D6Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00110">cppTypes.h:110</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a825cfc02adde2c48b0d508a3bf77e896"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">FBModelStateDerivative::dBodyPosition</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec3&lt; T &gt; dBodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00059">FloatingBaseModel.h:59</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a477c5193fa0c0f6e36314eca214a7248"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a477c5193fa0c0f6e36314eca214a7248">FloatingBaseModel::getParentVector</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; getParentVector()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00154">FloatingBaseModel.h:154</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a617042b4c0c0a0ec66e81a7f06641f61"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">FloatingBaseModel::_IC</a></div><div class="ttdeci">vectorAligned&lt; SpatialInertia&lt; T &gt; &gt; _IC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">FloatingBaseModel.h:279</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a267a9a00ef07004c3c9adf8e889f7b13"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">FloatingBaseModel::_Jcdqd</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _Jcdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00289">FloatingBaseModel.h:289</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae5a66b0d3fecb2cdd9ee3c68f72e9182"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">FBModelState::q</a></div><div class="ttdeci">DVec&lt; T &gt; q</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00043">FloatingBaseModel.h:43</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afb96756832c10edf60bcb16a0a1589bd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">FloatingBaseModel::_Xtree</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xtree</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_a97f42a6014fc5d9fd3dc22f7158099f4"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">FBModelState::qd</a></div><div class="ttdeci">DVec&lt; T &gt; qd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00044">FloatingBaseModel.h:44</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0175a880c72199694853ace01217b829"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">FloatingBaseModel::_externalForces</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _externalForces</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00277">FloatingBaseModel.h:277</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a32274ad578f7ad30bd79e786b62cdd62"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">FloatingBaseModel::setGravity</a></div><div class="ttdeci">void setGravity(Vec3&lt; T &gt; &amp;g)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel.h:171</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aa1935207d2cf06937b373cc502c873f6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aa1935207d2cf06937b373cc502c873f6">FloatingBaseModel::getGravityForce</a></div><div class="ttdeci">const DVec&lt; T &gt; &amp; getGravityForce() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00262">FloatingBaseModel.h:262</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a445bbce9a3f0a56164b06d39760d2383"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a445bbce9a3f0a56164b06d39760d2383">FloatingBaseModel::getBodyInertiaVector</a></div><div class="ttdeci">const std::vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; &amp; getBodyInertiaVector()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00158">FloatingBaseModel.h:158</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a74c3f88954fd3f8884d20a1fb436c8cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a74c3f88954fd3f8884d20a1fb436c8cc">FloatingBaseModel::_vGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _vGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00257">FloatingBaseModel.h:257</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3400844efc7da45cdc833fefc577360a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3400844efc7da45cdc833fefc577360a">FloatingBaseModel::resetExternalForces</a></div><div class="ttdeci">void resetExternalForces()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00301">FloatingBaseModel.h:301</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac59faf356eecc010c015e9cedabed7fc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac59faf356eecc010c015e9cedabed7fc">FloatingBaseModel::getCoriolisForce</a></div><div class="ttdeci">const DVec&lt; T &gt; &amp; getCoriolisForce() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00263">FloatingBaseModel.h:263</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">ori::CoordinateAxis</a></div><div class="ttdeci">CoordinateAxis</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00032">orientation_tools.h:32</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a712a346b405bb6093eb0fa13c8360f05"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">FloatingBaseModel::_dState</a></div><div class="ttdeci">FBModelStateDerivative&lt; T &gt; _dState</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00271">FloatingBaseModel.h:271</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a73af4cee379189bc5e85ad502ff2d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a73af4cee379189bc5e85ad502ff2d">FloatingBaseModel::getMassMatrix</a></div><div class="ttdeci">const DMat&lt; T &gt; &amp; getMassMatrix() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00261">FloatingBaseModel.h:261</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_a4a666efc34cdbab839a08427aa00119a"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#a4a666efc34cdbab839a08427aa00119a">FBModelState::print</a></div><div class="ttdeci">void print() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00046">FloatingBaseModel.h:46</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c77595286da687122899d5e61139305"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c77595286da687122899d5e61139305">FloatingBaseModel::getRotorInertiaVector</a></div><div class="ttdeci">const std::vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; &amp; getRotorInertiaVector()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00164">FloatingBaseModel.h:164</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae82236029c85cde87f2af7126cbede1d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">FloatingBaseModel::_Utot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Utot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00038">FloatingBaseModel.h:38</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adbe2cb8c9a4b37c7d06e0314233a886c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">FloatingBaseModel::_gearRatios</a></div><div class="ttdeci">vector&lt; T &gt; _gearRatios</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">FloatingBaseModel.h:241</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aabde468364e0ae042c562f5f360fd3b9"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">FloatingBaseModel::_G</a></div><div class="ttdeci">DVec&lt; T &gt; _G</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af2a69730c5168e05833b36dd74720e09"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">FloatingBaseModel::_qdd_from_subqdd</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_subqdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">FloatingBaseModel.h:312</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a91d31519dfa56e04c4f40c732011fa54"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a91d31519dfa56e04c4f40c732011fa54">FloatingBaseModel::~FloatingBaseModel</a></div><div class="ttdeci">~FloatingBaseModel()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00075">FloatingBaseModel.h:75</a></div></div>
<div class="ttc" id="_spatial_inertia_8h_html"><div class="ttname"><a href="../../d4/d7d/_spatial_inertia_8h.html">SpatialInertia.h</a></div><div class="ttdoc">Class representing spatial inertia tensors. </div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad9cdd4fa0510e9724d94a4e876e9fcd8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad9cdd4fa0510e9724d94a4e876e9fcd8">FloatingBaseModel::resetCalculationFlags</a></div><div class="ttdeci">void resetCalculationFlags()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00199">FloatingBaseModel.h:199</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="namespacespatial_html_acc851583f244f19d9ea07490e9328b51"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">spatial::JointType</a></div><div class="ttdeci">JointType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00021">spatial.h:21</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac14c1462d64d29ce58d3f002d6d459b9"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac14c1462d64d29ce58d3f002d6d459b9">FloatingBaseModel::setContactComputeFlag</a></div><div class="ttdeci">void setContactComputeFlag(size_t gc_index, bool flag)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00173">FloatingBaseModel.h:173</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a575819811abf1d4b8e527b22aead4013"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a575819811abf1d4b8e527b22aead4013">FloatingBaseModel::setState</a></div><div class="ttdeci">void setState(const FBModelState&lt; T &gt; &amp;state)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00191">FloatingBaseModel.h:191</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00057">FloatingBaseModel.h:57</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5566ab4692461d4240cec1fdbc2ab948"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">FloatingBaseModel::_pGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _pGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00256">FloatingBaseModel.h:256</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4465e35d979c34f4844a034fdeba7aef"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">FloatingBaseModel::_H</a></div><div class="ttdeci">DMat&lt; T &gt; _H</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">FloatingBaseModel.h:282</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aaa1aab12e64d31f3c6894d8308cc2fe2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">FloatingBaseModel::_J</a></div><div class="ttdeci">vectorAligned&lt; D6Mat&lt; T &gt; &gt; _J</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00285">FloatingBaseModel.h:285</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abb9ab3c0c626c9f25ab122e9ffcd25d4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abb9ab3c0c626c9f25ab122e9ffcd25d4">FloatingBaseModel::_footIndicesGC</a></div><div class="ttdeci">vector&lt; uint64_t &gt; _footIndicesGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00254">FloatingBaseModel.h:254</a></div></div>
<div class="ttc" id="namespacespatial_html"><div class="ttname"><a href="../../de/d1a/namespacespatial.html">spatial</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00019">spatial.h:19</a></div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">FloatingBaseModel.h:69</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
<div class="ttc" id="orientation__tools_8h_html"><div class="ttname"><a href="../../d4/dfb/orientation__tools_8h.html">orientation_tools.h</a></div><div class="ttdoc">Utility functions for 3D rotations. </div></div>
<div class="ttc" id="class_floating_base_model_html_ae83e5fdbf8d7b58225d67277cef008ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae83e5fdbf8d7b58225d67277cef008ea">FloatingBaseModel::_Jdqd</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Jdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00286">FloatingBaseModel.h:286</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_af32a2041b72e6b30ed1c8a027d340fd2"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">FBModelStateDerivative::qdd</a></div><div class="ttdeci">DVec&lt; T &gt; qdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00061">FloatingBaseModel.h:61</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="namespaceori_html"><div class="ttname"><a href="../../da/d9b/namespaceori.html">ori</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00028">orientation_tools.h:28</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a202ffc31ffb2be152fbd3e7ae88e6aa6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">FloatingBaseModel::_Jc</a></div><div class="ttdeci">vectorAligned&lt; D3Mat&lt; T &gt; &gt; _Jc</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00288">FloatingBaseModel.h:288</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ad7673cd2189f78a761c3a51d9c1314b1"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 10, 1 &gt; MassProperties</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00098">cppTypes.h:98</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad8f8cb301ed7f7f0ef28f008ed0d5549"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">FloatingBaseModel::_u</a></div><div class="ttdeci">vector&lt; T &gt; _u</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad764230d8d3100438f194afedd3d7a71"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">FloatingBaseModel::_state</a></div><div class="ttdeci">FBModelState&lt; T &gt; _state</div><div class="ttdoc">BEGIN ALGORITHM SUPPORT VARIABLES. </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">FloatingBaseModel.h:270</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a6705a7e83c8223c327871d48e40ab37b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a6705a7e83c8223c327871d48e40ab37b">FloatingBaseModel::FloatingBaseModel</a></div><div class="ttdeci">FloatingBaseModel()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00074">FloatingBaseModel.h:74</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae42e1f0d68b89af761bcaf273b97bca7"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">FBModelState::bodyOrientation</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat&lt; T &gt; bodyOrientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FloatingBaseModel.h:40</a></div></div>
<div class="ttc" id="spatial_8h_html"><div class="ttname"><a href="../../d9/dc8/spatial_8h.html">spatial.h</a></div><div class="ttdoc">Utility functions for manipulating spatial quantities. </div></div>
<div class="ttc" id="class_floating_base_model_html_a5a61e12fea447a5c9aaceb7125439552"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">FloatingBaseModel::_qdd_from_base_accel</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_base_accel</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">FloatingBaseModel.h:311</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae40d2d4174e196396dac5d4b008256e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">FloatingBaseModel::_jointTypes</a></div><div class="ttdeci">vector&lt; JointType &gt; _jointTypes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">FloatingBaseModel.h:244</a></div></div>
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